Lenze CANopen Controller-based Automation - Manual (Page 20)

Lenze · Controller-based Automation · CANopen® Communication Manual · DMS 6.3 EN · 04/2014 · TD17
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5 Technical data
5.1 General data
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5 Technical data
5.1 General data
Area Values
Communication profile CANopen (DS301, V4.02)
Standards CAN, ISO 11898 / EN 50325-4
Network topology Line, terminated at both ends with 120 
(e.g. terminated with Sub-D plug of type EWZ0046)
Max. number of nodes 127
Adjustable node addresses 1 ... 127
(adjustable for Lenze devices via DIP switches)
Baud rates [kbps] • 10
• 20
• 50
• 125
• 250
• 500
• 1000
Parameter data Max. 10 client and server SDO channels with 1 ... 8 bytes
Cycle time - Motion/CNC task 1 ... 16 ms
Number of drives/ms on the Motion
bus
Max. 3 drives/ms
Signal propagation delay drive 
controller  drive
4 cycles
Cross communication Only possible with CANopen (Logic)
In the case of CANopen (Motion), communication is executed centrally via
the Lenze Controller.
Number of DI + DO (bits/ms) 384 (max. 6 PDOs/ms on the Logic bus)
Cycle synchronisation with locked
PLL (Jitter)
+/-10 μs